\hypertarget{classMJ__Interface}{}\doxysection{MJ\+\_\+\+Interface Class Reference}
\label{classMJ__Interface}\index{MJ\_Interface@{MJ\_Interface}}
\doxysubsection*{Public Member Functions}
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\mbox{\Hypertarget{classMJ__Interface_a8673f6877a73148a67de90726d77e01a}\label{classMJ__Interface_a8673f6877a73148a67de90726d77e01a}} 
{\bfseries MJ\+\_\+\+Interface} (mj\+Model $\ast$mj\+\_\+model\+In, mj\+Data $\ast$mj\+\_\+data\+In)
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\mbox{\Hypertarget{classMJ__Interface_af70216da714e571369d9d176571590a6}\label{classMJ__Interface_af70216da714e571369d9d176571590a6}} 
void {\bfseries update\+Sensor\+Values} ()
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\mbox{\Hypertarget{classMJ__Interface_a820f45e54c3d726aa5631c2acfcf6cbd}\label{classMJ__Interface_a820f45e54c3d726aa5631c2acfcf6cbd}} 
void {\bfseries set\+Motors\+Torque} (std\+::vector$<$ double $>$ \&tau\+In)
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\mbox{\Hypertarget{classMJ__Interface_ac13217e183325898b7a7e184470562f0}\label{classMJ__Interface_ac13217e183325898b7a7e184470562f0}} 
void {\bfseries data\+Bus\+Write} (\mbox{\hyperlink{structDataBus}{Data\+Bus}} \&bus\+In)
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\doxysubsection*{Public Attributes}
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\mbox{\Hypertarget{classMJ__Interface_a5e8510564e538fa386a818f6f96a5121}\label{classMJ__Interface_a5e8510564e538fa386a818f6f96a5121}} 
int {\bfseries joint\+Num} \{0\}
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std\+::vector$<$ double $>$ {\bfseries motor\+\_\+pos}
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\mbox{\Hypertarget{classMJ__Interface_a2c2a122a4aa9542421e227e6c1722e3e}\label{classMJ__Interface_a2c2a122a4aa9542421e227e6c1722e3e}} 
std\+::vector$<$ double $>$ {\bfseries motor\+\_\+pos\+\_\+\+Old}
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\mbox{\Hypertarget{classMJ__Interface_ad6b575d76a968ffdda312686be04b826}\label{classMJ__Interface_ad6b575d76a968ffdda312686be04b826}} 
std\+::vector$<$ double $>$ {\bfseries motor\+\_\+vel}
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\mbox{\Hypertarget{classMJ__Interface_a62d68e65d389ff62f9c7c95f786f094c}\label{classMJ__Interface_a62d68e65d389ff62f9c7c95f786f094c}} 
double {\bfseries rpy} \mbox{[}3\mbox{]} \{0\}
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\mbox{\Hypertarget{classMJ__Interface_a14cefc3f8d3c18ed5b2c435ac7d959ea}\label{classMJ__Interface_a14cefc3f8d3c18ed5b2c435ac7d959ea}} 
double {\bfseries base\+Quat} \mbox{[}4\mbox{]} \{0\}
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\mbox{\Hypertarget{classMJ__Interface_ab67f241caf2e6ca0388154a2c578d624}\label{classMJ__Interface_ab67f241caf2e6ca0388154a2c578d624}} 
double {\bfseries f3d} \mbox{[}3\mbox{]}\mbox{[}2\mbox{]} \{0\}
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\mbox{\Hypertarget{classMJ__Interface_a91f7d6a50267e9ff1537328a40d68775}\label{classMJ__Interface_a91f7d6a50267e9ff1537328a40d68775}} 
double {\bfseries base\+Pos} \mbox{[}3\mbox{]} \{0\}
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\mbox{\Hypertarget{classMJ__Interface_a80db73384f82c7fc7509a66e35df0a23}\label{classMJ__Interface_a80db73384f82c7fc7509a66e35df0a23}} 
double {\bfseries base\+Acc} \mbox{[}3\mbox{]} \{0\}
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\mbox{\Hypertarget{classMJ__Interface_a021529e1a992fa8c4151a3c61b952056}\label{classMJ__Interface_a021529e1a992fa8c4151a3c61b952056}} 
double {\bfseries base\+Ang\+Vel} \mbox{[}3\mbox{]} \{0\}
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\mbox{\Hypertarget{classMJ__Interface_a515b7c4b0412a629fd8e2d8b7ff82012}\label{classMJ__Interface_a515b7c4b0412a629fd8e2d8b7ff82012}} 
double {\bfseries base\+Lin\+Vel} \mbox{[}3\mbox{]} \{0\}
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const std\+::vector$<$ std\+::string $>$ {\bfseries Joint\+Name}
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\mbox{\Hypertarget{classMJ__Interface_a6e59db58240c350c3e5fdaa1addcc969}\label{classMJ__Interface_a6e59db58240c350c3e5fdaa1addcc969}} 
const std\+::string {\bfseries base\+Name} =\char`\"{}base\+\_\+link\char`\"{}
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\mbox{\Hypertarget{classMJ__Interface_aa3e4c8f5df56bd3407a04c0ae6a15d79}\label{classMJ__Interface_aa3e4c8f5df56bd3407a04c0ae6a15d79}} 
const std\+::string {\bfseries orientation\+Sensor\+Name} =\char`\"{}baselink-\/quat\char`\"{}
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\mbox{\Hypertarget{classMJ__Interface_ab5e87c8106ed161dbb4533f20cc35057}\label{classMJ__Interface_ab5e87c8106ed161dbb4533f20cc35057}} 
const std\+::string {\bfseries vel\+Sensor\+Name} =\char`\"{}baselink-\/velocity\char`\"{}
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\mbox{\Hypertarget{classMJ__Interface_a47e131e382abab397483dfe54045d07b}\label{classMJ__Interface_a47e131e382abab397483dfe54045d07b}} 
const std\+::string {\bfseries gyro\+Sensor\+Name} =\char`\"{}baselink-\/gyro\char`\"{}
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\mbox{\Hypertarget{classMJ__Interface_a12b68aed8f3ca981ce80aae25d5c9073}\label{classMJ__Interface_a12b68aed8f3ca981ce80aae25d5c9073}} 
const std\+::string {\bfseries acc\+Sensor\+Name} =\char`\"{}baselink-\/base\+Acc\char`\"{}
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\doxysubsection{Detailed Description}


Definition at line 15 of file MJ\+\_\+interface.\+h.



\doxysubsection{Member Data Documentation}
\mbox{\Hypertarget{classMJ__Interface_a5cde9d9e1ab09a14e228a5df57e327f7}\label{classMJ__Interface_a5cde9d9e1ab09a14e228a5df57e327f7}} 
\index{MJ\_Interface@{MJ\_Interface}!JointName@{JointName}}
\index{JointName@{JointName}!MJ\_Interface@{MJ\_Interface}}
\doxysubsubsection{\texorpdfstring{JointName}{JointName}}
{\footnotesize\ttfamily const std\+::vector$<$std\+::string$>$ MJ\+\_\+\+Interface\+::\+Joint\+Name}

{\bfseries Initial value\+:}
\begin{DoxyCode}{0}
\DoxyCodeLine{=\{ \textcolor{stringliteral}{"{}J\_arm\_l\_01"{}},\textcolor{stringliteral}{"{}J\_arm\_l\_02"{}},\textcolor{stringliteral}{"{}J\_arm\_l\_03"{}}, \textcolor{stringliteral}{"{}J\_arm\_l\_04"{}}, \textcolor{stringliteral}{"{}J\_arm\_l\_05"{}},}
\DoxyCodeLine{                                               \textcolor{stringliteral}{"{}J\_arm\_l\_06"{}},\textcolor{stringliteral}{"{}J\_arm\_l\_07"{}},\textcolor{stringliteral}{"{}J\_arm\_r\_01"{}}, \textcolor{stringliteral}{"{}J\_arm\_r\_02"{}}, \textcolor{stringliteral}{"{}J\_arm\_r\_03"{}},}
\DoxyCodeLine{                                               \textcolor{stringliteral}{"{}J\_arm\_r\_04"{}},\textcolor{stringliteral}{"{}J\_arm\_r\_05"{}},\textcolor{stringliteral}{"{}J\_arm\_r\_06"{}}, \textcolor{stringliteral}{"{}J\_arm\_r\_07"{}},}
\DoxyCodeLine{                                               \textcolor{stringliteral}{"{}J\_head\_yaw"{}},\textcolor{stringliteral}{"{}J\_head\_pitch"{}},\textcolor{stringliteral}{"{}J\_waist\_pitch"{}},\textcolor{stringliteral}{"{}J\_waist\_roll"{}}, \textcolor{stringliteral}{"{}J\_waist\_yaw"{}},}
\DoxyCodeLine{                                               \textcolor{stringliteral}{"{}J\_hip\_l\_roll"{}}, \textcolor{stringliteral}{"{}J\_hip\_l\_yaw"{}}, \textcolor{stringliteral}{"{}J\_hip\_l\_pitch"{}}, \textcolor{stringliteral}{"{}J\_knee\_l\_pitch"{}},}
\DoxyCodeLine{                                               \textcolor{stringliteral}{"{}J\_ankle\_l\_pitch"{}}, \textcolor{stringliteral}{"{}J\_ankle\_l\_roll"{}}, \textcolor{stringliteral}{"{}J\_hip\_r\_roll"{}}, \textcolor{stringliteral}{"{}J\_hip\_r\_yaw"{}},}
\DoxyCodeLine{                                               \textcolor{stringliteral}{"{}J\_hip\_r\_pitch"{}}, \textcolor{stringliteral}{"{}J\_knee\_r\_pitch"{}}, \textcolor{stringliteral}{"{}J\_ankle\_r\_pitch"{}}, \textcolor{stringliteral}{"{}J\_ankle\_r\_roll"{}}\}}

\end{DoxyCode}


Definition at line 28 of file MJ\+\_\+interface.\+h.



The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
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MJ\+\_\+interface.\+h\item 
MJ\+\_\+interface.\+cpp\end{DoxyCompactItemize}
